YASKAWA Motoman DX200 User manual

MANUAL NO.
0
HW1481973
Part Number: 165626-1CD
Revision: 0
DX200 OPTIONS
JARCR-XFB01B BOARD
INSTRUCTIONS
FOR DeviceNet
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain
for future reference.
MOTOMAN INSTRUCTIONS
MOTOMAN- INSTRUCTIONS
DX200 INSTRUCTIONS
DX200 OPERATOR’S MANUAL
DX200 MAINTENANCE MANUAL
The DX200 operator’s manuals above correspond to specific usage.
Be sure to use the appropriate manual.
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HW1481973
JARCR-XFB01B Board
for DeviceNet
MANDATORY
• This manual explains the JARCR-XFB01B board of the DX200
system and general operations. Read this manual carefully and be
sure to understand its contents before handling the DX200.
• General items related to safety are listed in Chapter 1: Safety of the
DX200 Instructions. To ensure correct and safe operation, carefully
read the DX200 Instruction before reading this manual.
CAUTION
• Some drawings in this manual are shown with the protective covers
or shields removed for clarity. Be sure all covers and shields are
replaced before operating this product.
• The drawings and photos in this manual are representative
examples and differences may exist between them and the
delivered product.
• YASKAWA may modify this model without notice when necessary
due to product improvements, modifications, or changes in
specifications. If such modification is made, the manual number will
also be revised.
• If your copy of the manual is damaged or lost, contact a YASKAWA
representative to order a new copy. The representatives are listed
on the back cover. Be sure to tell the representative the manual
number listed on the front cover.
• YASKAWA is not responsible for incidents arising from unauthorized
modification of its products. Unauthorized modification voids your
product’s warranty.
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JARCR-XFB01B Board
for DeviceNet
Notes for Safe Operation
Read this manual carefully before installation, operation, maintenance, or
inspection of the DX200.
In this manual,the Notes for Safe Operation are classified as “WARNING,”
“CAUTION,” “MANDATORY,” or ”PROHIBITED.”
Even items described as “CAUTION” may result in a serious accident in
some situations. At any rate, be sure to follow these important items.
WARNING
Indicates a potentially hazardous
situation which, if not avoided, could
result in death or serious injury to
personnel.
CAUTION
Indicates a potentially hazardous
situation which, if not avoided, could
result in minor or moderate injury to
personnel and damage to equipment.
It may also be used to alert against
unsafe practices.
MANDATORY
Always be sure to follow explicitly the
items listed under this heading.
PROHIBITED
Must never be performed.
NOTE
To ensure safe and efficient operation at all times, be sure
to follow all instructions, even if not designated as
“CAUTION” and “WARNING.”
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HW1481973
JARCR-XFB01B Board
for DeviceNet
PROHIBITED
• Do not use or keep the board in the following environmental
conditions.
– Where exposed to direct sunshine
– Where vibration or impact occurs
– Where high humidity exists
– Where a strong magnetic field exists
– Where much dust exists
– Where a sudden change in the temperature occurs
– Where corrosive gases occur
– Where condensation occurs
Improper usage of the board may damage the board.
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HW1481973
JARCR-XFB01B Board
for DeviceNet
WARNING
• Before operating the manipulator, check that servo power is turned
OFF when the emergency stop buttons on the front door of the
DX200 and programming pendant are pressed.
When the servo power is turned OFF, the SERVO ON LED on the
programming pendant is turned OFF.
Injury or damage to machinery may result if the emergency stop circuit
cannot stop the manipulator during an emergency. The manipulator
should not be used if the emergency stop buttons do not function.
Figure 1: Emergency Stop Button
• Once the emergency stop button is released, clear the cell of all
items which could interfere with the operation of the manipulator.
Then turn the servo power ON.
Injury may result from unintentional or unexpected manipulator motion.
Figure 2: Release of Emergency Stop
TURN
• Observe the following precautions when performing teaching
operations within the P-point maximum envelope of the manipulator
– View the manipulator from the front whenever possible.
– Always follow the predetermined operating procedure.
– Keep in mind the emergency response measures against the
manipulator’s unexpected motion toward you.
– Ensure that you have a safe place to retreat in case of
emergency.
Improper or unintended manipulator operation may result in injury.
• Confirm that no persons are present in the P-point maximum
envelope of the manipulator and that you are in a safe location
before:
– Turning ON the DX200 power
– Moving the manipulator with the programming pendant
– Running the system in the check mode
– Performing automatic operations
• Injury may result if anyone enters the P-point maximum envelope of
the manipulator during operation. Always press an emergency stop
button immediately if there are problems.The emergency stop
buttons are located on the right of the front door of the DX200 and
the programming pendant.
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WARNING
• Do not touch the inside of the panel for 5 minutes after the power is
turned OFF.
The remaining charged voltage in the capacitor may cause an electric
shock or an injury.
• Be sure to close the door and install the protection cover while the
power is turned ON.
Failure to observe this warning may result in a fire or an electric shock.
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CAUTION
• Perform the following inspection procedures prior to conducting
manipulator teaching. If problems are found, repair them
immediately, and be sure that all other necessary processing has
been performed.
– Check for problems in manipulator movement.
– Check for damage to insulation and sheathing of external wires.
• Always return the programming pendant to the hook on the cabinet
of the DX200 after use.
The programming pendant can be damaged if it is left in the
manipulator's work area, on the floor, or near fixtures.
Read and understand the Explanation of Warning Labels in the DX200
Instructions before operating the manipulator:
• The wiring and mounting must be performed by authorized and
qualified personnel.
Failure to observe this caution may result in a fire or an electric shock.
• Make sure that there is no foreign matter such as metal chips on the
board.
In case of malfunction, etc. it may result in an injury or damage the
board.
• Make sure that there is no damage or deflection of parts on the
board.
In case of malfunction, etc. it may result in an injury or damage the
board.
• Correctly connect each cable and connector.
Failure to observe this caution may result in a fire or damage the board.
• Set the switches, etc. correctly.
Malfunction, caused by an incorrect setting, may result in an injury or
damage the board.
• Never touch the mounting surfaces of the board parts directly with
fingers.
The generated static electricity may damage the IC.
• Never touch the soldered surfaces of the board directly with fingers.
Protrusions on the soldered surface may result in an injury.
• No shock to the board.
The shock may damage the board.
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Definition of Terms Used Often in This Manual
The MOTOMAN is the YASKAWA industrial robot product.
The MOTOMAN usually consists of the manipulator, the controller, the
programming pendant, and supply cables.
In this manual, the equipment is designated as follows.
Descriptions of the programming pendant keys, buttons, and displays are
shown as follows:
Description of the Operation Procedure
In the explanation of the operation procedure, the expression "Select • • • "
means that the cursor is moved to the object item and the SELECT key is
pressed, or that the item is directly selected by touching the screen.
Registered Trademark
In this manual, names of companies, corporations, or products are
trademarks, registered trademarks, or bland names for each company or
corporation. The indication of (R) and ™ are omitted.
Equipment Manual Designation
DX200 Controller DX200
DX200 Programming Pendant Programming Pendant
Cable between the manipulator and the
controller Manipulator cable
Equipment Manual Designation
Programming
Pendant Character Keys/ Symbol Keys The keys which have characters printed on them are denoted with [ ].
ex. [ENTER]
Axis Keys
Numeric Keys “Axis Keys” and “Numeric Keys” are generic names for the keys for axis operation and
number input.
Keys pressed
simultaneously When two keys are to be pressed simultaneously, the keys are shown with a
“+” sign between them, ex.
[SHIFT]+[COORD]
Displays The menu displayed in the programming
pendant is denoted with { }.
ex. {JOB}
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Table of Contents
1 Outline...................................................................................................................1-1
1.1 System Configuration ................................................................................1-1
1.1.1 XFB01B Board in Slave Mode .......................................................1-1
1.1.2 XFB01B Board in Master Mode .....................................................1-2
2 Hardware Specifications.....................................................................................2-1
2.1 Board External View ..................................................................................2-1
2.2 Board Specifications ..................................................................................2-1
2.3 Communication Specifications ..................................................................2-2
2.4 Connector ..................................................................................................2-2
3 Setting Functions.................................................................................................3-1
3.1 Function Setting Switches .........................................................................3-1
3.2 Setting Switches ........................................................................................3-2
3.3 Function Setting Terminals ........................................................................3-4
3.4 Setting Terminals ......................................................................................3-5
4 Mounting XFB01B Board.....................................................................................4-1
4.1 Opening Front Door of the DX200 .............................................................4-2
4.2 Confirming Switch Settings on the XFB01B Board ...................................4-2
4.3 Mounting the XFB01B Board on the DX200 ..............................................4-2
4.4 Connecting Each Cable .............................................................................4-3
4.5 Closing the Front Door of the DX200 ........................................................4-4
5 Allocating I/O Signals..........................................................................................5-1
5.1 I/O Module Setting .....................................................................................5-1
5.2 Transmission Data ..................................................................................5-11
5.2.1 DX200 I/O Allocation example (For Handling) .............................5-12
5.2.2 DX200 I/O Allocation example (For Except Handling) .................5-14
5.2.3 The Alarm when Communications Error Occurs
Using the Board Status .........................................................................5-16
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for DeviceNet
5.3 DeviceNet Slave Allocation (Only in Master Mode) ................................ 5-21
5.4 Management of DeviceNet Slave Allocation (Only in Master Mode) ...... 5-25
5.4.1 Saving to External Memory ......................................................... 5-25
5.4.2 Loading from External Memory ................................................... 5-27
6 Network Specifications....................................................................................... 6-1
6.1 Network Configuration .............................................................................. 6-1
6.1.1 Network Connections .................................................................... 6-1
6.1.2 Precautions for Wiring DeviceNet Cables ..................................... 6-4
7 Connections for DeviceNet Communications .................................................. 7-1
7.1 Location of Communication Power Supply ............................................... 7-1
7.1.1 Basic Precautions .......................................................................... 7-1
7.1.2 Location of Power Supply .............................................................. 7-2
7.1.3 How to Decide the Location of the Power Supply ......................... 7-3
7.2 Grounding ................................................................................................. 7-9
7.2.1 Grounding Method ......................................................................... 7-9
8 Error Indication.................................................................................................... 8-1
8.1 LED Indicators .......................................................................................... 8-1
8.1.1 MS Lamp ....................................................................................... 8-1
8.1.2 NS Lamp ....................................................................................... 8-2
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